六圆柱-圆锥轮式月球车多轮协调运动控制研究

Research on coordinated wheel motion control for a lunar rover with six cylinder-cone-shaped wheels

月球车的运动控制是月球车完成探测任务的前提.为实现月球车前进、后退和转向等基本运动功能,对六圆柱-圆锥轮式月球车的多轮协调运动控制进行了研究.根据六圆柱-圆锥轮式月球车的机构原理和结构特点,给出了月球车车轮的运动学约束条件,建立了月球车的运动学约束模型,针对月球车的基本运动要求,推导了月球车六轮协调运动的控制模型,并基于实时Linux和PC104总线计算机的车载计算机运动控制系统,对月球车的运动控制进行了实验研究.研究结果证实了六轮协调运动控制模型的正确性,为月球探测车的运动控制系统设计及月球车的自主避障功能等奠定了理论基础.

Reliable motion control is the precondition for successful accomplishment of a lunar rover＇s exploration tasks. In order to implement the basic motions of a rover, such as forward/backward motion, turning, etc. , a study of coordinated motion control of a lunar rover equipped with six cylinder-cone-shaped wheels was conducted. According to the mechanical principles and structural features of the lunar rover, the kinematic constraints of the wheels were given. The control model for six-wheel coordinated motion was developed based on the fundamental motion requirements of the rover. The experimental study was carried out for motion control of the lunar rover with an on board computer motion control system, using real time Linux running on a PC104 bus computer. The research results prove the validity of the proposed control model for six-wheel coordinated motion and lay down a theoretical foundation for designing a motion control system with autonomous barrier avoiding ability.